CN117885804A - Electrohydraulic power steering device, risk assessment method, medium and apparatus - Google Patents
Electrohydraulic power steering device, risk assessment method, medium and apparatus Download PDFInfo
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- CN117885804A CN117885804A CN202410288673.5A CN202410288673A CN117885804A CN 117885804 A CN117885804 A CN 117885804A CN 202410288673 A CN202410288673 A CN 202410288673A CN 117885804 A CN117885804 A CN 117885804A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012502 risk assessment Methods 0.000 title claims abstract description 23
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 90
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 239000003921 oil Substances 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000004590 computer program Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 14
- 230000007423 decrease Effects 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 5
- 230000001965 increasing effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides an electro-hydraulic power steering gear, a risk assessment method, a medium and equipment, wherein the electro-hydraulic power steering gear comprises a hydraulic steering mechanism and a motor which is arranged at the hydraulic steering mechanism and can assist in driving the hydraulic steering mechanism, and the electro-hydraulic power steering gear further comprises: the collecting module comprises a flow collecting unit arranged at an oil inlet of the hydraulic steering mechanism, and the flow collecting unit is used for obtaining the flow of hydraulic oil at the oil inlet and is in communication connection with the electronic control unit; and the calculation module is arranged in the electronic control unit, calculates the failure risk rate of the hydraulic power assistance according to the hydraulic oil flow, and outputs the failure risk rate.
Description
Technical Field
The invention relates to the technical field of safety control of an electro-hydraulic power-assisted steering device, in particular to an electro-hydraulic power-assisted steering device, and a risk assessment method, medium and equipment for hydraulic power-assisted failure of the electro-hydraulic power-assisted steering device.
Background
For the traditional mechanical hydraulic power steering system, the mechanical hydraulic power can greatly consume the power of an engine and increase the overall energy consumption of a vehicle, so that a more energy-saving electro-hydraulic power steering device is generally adopted on the current commercial automobile. The steering oil pump of the steering gear can be driven by an engine or a motor, and can output hydraulic power assistance and electric power assistance for steering assistance at the same time. In known electrohydraulic power steering devices, in the event of a hydraulic power failure, the driver and the control unit are generally unable to determine in advance the extent of the hydraulic power failure and do the relevant operation for it.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
According to a different aspect, one of the objects of the invention is to enable a driver to get a reminder to respond quickly before the hydraulic assist of an electro-hydraulic power steering has failed.
In addition, the invention aims to solve or alleviate other technical problems in the prior art.
According to an aspect of the present invention, there is provided:
An electro-hydraulic power steering comprising a hydraulic steering mechanism and a motor arranged at the hydraulic steering mechanism and capable of assisting in driving the same, wherein the electro-hydraulic power steering further comprises:
the collecting module comprises a flow collecting unit arranged at an oil inlet of the hydraulic steering mechanism, and the flow collecting unit is used for obtaining the flow of hydraulic oil at the oil inlet and is in communication connection with the electronic control unit;
And the calculation module is arranged in the electronic control unit, calculates the failure risk rate of the hydraulic power assistance according to the hydraulic oil flow, and outputs the failure risk rate.
According to another aspect of the invention, the invention provides a risk assessment method for hydraulic power failure of an electro-hydraulic power steering gear, which comprises the following steps:
step1: acquiring the current hydraulic oil flow for hydraulic power assistance in the electro-hydraulic power assisted steering gear;
Step 2: calculating failure risk rate of hydraulic power assistance according to the hydraulic oil flow;
step 3: and outputting the failure risk rate.
According to a further aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the risk assessment method described above.
According to a further aspect of the present invention there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the risk assessment method described above when executing the computer program.
The beneficial effects of the invention include: the failure risk rate of the steering assistance is judged in real time according to the related parameters of the hydraulic oil flow, so that a driver can judge the failure degree of the hydraulic assistance in advance and make related coping operations, and the safety of vehicle steering is improved.
Drawings
The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,
FIG. 1 shows a schematic structural view of an electro-hydraulic power steering gear according to one embodiment of an aspect of the present invention;
fig. 2 shows a schematic flow chart of a risk assessment method for hydraulic power failure of an electrohydraulic power steering device according to an embodiment of another aspect of the present invention.
Detailed Description
It is to be understood that, according to the technical solution of the present invention, those skilled in the art may propose various alternative structural modes and implementation modes without changing the true spirit of the present invention. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit the invention to the precise form disclosed.
Terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible to be mentioned in the present specification are defined with respect to the configurations shown in the drawings, which are relative concepts, and thus may be changed according to different positions and different use states thereof. These and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and distinguishing purposes only and are not to be construed as indicating or implying a relative importance of the corresponding components or a sequential or assembly order of the components.
Referring to FIG. 1, a schematic diagram of an electro-hydraulic power steering gear 100 in accordance with one embodiment of an aspect of the present invention is shown. The electric power steering apparatus 100 includes a hydraulic steering mechanism 1 and a motor 2 that is disposed at the hydraulic steering mechanism 1 and is capable of assisting in driving the same. The electro-hydraulic power steering device 100 realizes hydraulic power steering by the hydraulic power steering mechanism 1, and realizes electric power steering by driving the hydraulic power steering mechanism 1 by the motor 2. The hydraulic steering mechanism 1 includes an oil inlet 11 and an oil outlet 12, the oil inlet 11 is connected to an oil pump 200 disposed outside the electric power steering gear 100 through a hydraulic line, the oil outlet 12 is connected to an oil tank 300 disposed outside the electric power steering gear 100 through a hydraulic line, and the oil pump 200 is connected to the oil tank 300 through a hydraulic line. An electronic control unit 3 is installed on the motor 2, and the electronic control unit 3 can control the working state of the motor 2 and is in communication connection with the whole vehicle electronic control unit 400. The electronic control unit 3 may also be mounted in other locations of the electro-hydraulic power steering gear 100 or outside the electro-hydraulic power steering gear 100. Wherein, this electrohydraulic power steering device 100 further includes:
The acquisition module comprises a flow acquisition unit 10 arranged at an oil inlet 11 of the hydraulic steering mechanism 1, acquires the flow of hydraulic oil at the oil inlet 11 and is in communication connection with the electronic control unit 3;
and a calculation module 20, which is provided in the electronic control unit 3, calculates a failure risk rate of the hydraulic power assist according to the hydraulic oil flow rate, and outputs the failure risk rate.
In an electrohydraulic power steering device, the hydraulic power torque is mainly provided by the pressure of the hydraulic oil, and the factor determining the pressure of the hydraulic oil is mainly the flow of the hydraulic oil for hydraulic power assistance. When the flow of the hydraulic oil is in a flow interval capable of maintaining normal operation and has no large drop, the pressure of the hydraulic oil can be maintained well, so that enough hydraulic assistance can be provided; when the flow rate of the hydraulic oil drops greatly relative to the flow rate in normal operation, it is difficult for the hydraulic oil to maintain a large pressure, so that sufficient hydraulic assistance cannot be provided or hydraulic assistance cannot be provided at all, which is often caused by a failure of a hydraulic component (such as a hydraulic pump, a valve, etc.) that provides the hydraulic oil or a blockage of a hydraulic oil passage, etc. In known electro-hydraulic power steering systems, when hydraulic power is or is likely to be disabled, the system does not provide an alarm or notification that the driver is only able to feel the failure of the hydraulic power from the steering feel of the steering wheel; for example, if the steering wheel suddenly becomes difficult to turn while the driver is turning, it can be inferred that this is the result of a failure in the hydraulic assist, and the driver then reacts to this situation, such as increasing the steering torque to the steering wheel when turning later, or stopping to check the electro-hydraulic assist steering, etc. However, if the driver is steering when the hydraulic assist is disabled, it may be difficult for the driver to fully adapt the steering feel of the steering wheel temporarily, and a suitable steering wheel torque may not be given, which may lead to an accident in steering. Or if the vehicle is in automatic driving, when the hydraulic power assistance fails, the vehicle can be directly stopped or the electro-hydraulic power assisted steering device is directly switched to the electric power assistance, and the controller is difficult to respond timely in advance, such as a standby hydraulic power assistance system is adopted, the electric power assistance is increased in advance, and a user is informed of the failure of the hydraulic power assistance in time. The hydraulic power assisting device and the hydraulic power assisting method avoid the situation by monitoring the flow of the hydraulic oil in real time to calculate the failure risk rate of the hydraulic power assisting. By calculating the failure risk rate of the hydraulic power assistance in real time according to the current hydraulic oil flow and sending the failure risk rate to a driver or a controller, the driver or the controller can obtain the failure risk of the hydraulic power assistance before the hydraulic power assistance completely fails, so that corresponding countermeasures or responses are made to the failure risk rate, and accidents are avoided.
The flow collection unit 10 may be a flow sensor.
In one embodiment of the present invention, the calculation module 20 in the electro-hydraulic power steering gear 100 further includes:
The judging module is used for judging the relation between the hydraulic oil flow and a preset upper flow limit and a preset lower flow limit, outputting information of normal operation of hydraulic assistance if the hydraulic oil flow is larger than the upper flow limit, outputting information of failure of the hydraulic assistance if the hydraulic oil flow is smaller than the lower flow limit, and judging that the failure risk rate is between 0% and 100% and is inversely related to the hydraulic oil flow if the hydraulic oil flow is between the upper flow limit and the lower flow limit.
It should be appreciated that the flow of hydraulic oil used for hydraulic assist is not constant, and that the magnitude of the hydraulic oil flow may fluctuate even if the hydraulic assist is not disabled. Therefore, in this embodiment, the upper flow limit and the lower flow limit are set, for example, the upper flow limit of the hydraulic oil is 80% of the maximum hydraulic oil flow, that is, when the current hydraulic oil flow is greater than 80% of the maximum hydraulic oil flow, there is basically no fear that the hydraulic assist has a failure risk, which is within the normal fluctuation range of the hydraulic oil flow, and at this time, information of the normal operation of the hydraulic assist is output, for example, a failure risk rate of 0% can be output. For example, the lower limit of the hydraulic oil flow is 50% of the maximum hydraulic oil flow, when the hydraulic oil flow is lower than 50% of the maximum hydraulic oil flow, it can be almost confirmed that the hydraulic assistance has failed, the hydraulic oil cannot normally supply the hydraulic oil, and at this time, the information of failure of the hydraulic assistance is output, for example, the failure risk rate of 100% can be output. While the hydraulic assist force is temporarily not disabled when the hydraulic oil flow rate is 50% -80% of the maximum hydraulic oil flow rate, but there is a risk of disabling, so the calculated risk of disabling should be between 0% -100% and the risk of disabling increases with decreasing hydraulic oil flow rate in this range.
In one embodiment of the present invention, if the hydraulic oil flow is between the upper flow limit and the lower flow limit, the calculation module 20 looks up the table to find the failure risk according to the preset relationship curve of the failure risk and the hydraulic oil flow, or calculates the failure risk as the ratio of the difference between the upper flow limit and the hydraulic oil flow to the difference between the upper flow limit and the lower flow limit.
When the hydraulic oil flow is between the upper flow limit and the lower flow limit, effective calculation of the failure risk rate can be achieved through two methods. The method comprises the steps of firstly determining a relation curve between failure risk rate and hydraulic oil flow through a large number of calibration tests, and presetting the relation curve in an electrohydraulic power steering device. After the hydraulic oil flow is obtained, the corresponding failure risk rate is obtained from the relation curve in a table look-up or interpolation mode. The method can accurately calculate the failure risk rates for different hydraulic oil flows based on actual test data. The other method is to simply and linearly match the hydraulic oil flow and the failure risk rate in the upper flow limit and the lower flow limit, namely the hydraulic oil flow and the failure risk rate in the upper flow limit and the lower flow limit are in a strict proportional relation, and the failure risk rate can be obtained according to the hydraulic oil flow through a decreasing primary function. The method has smaller calculated amount, and saves more operation time and system cost.
In one embodiment of the present invention, the calculation module 20 calculates a current hydraulic oil flow rate according to the hydraulic oil flow rate and adjusts the failure risk rate according to the hydraulic oil flow rate, when the hydraulic oil flow rate is positive, the calculation module 20 decreases the failure risk rate with an increase in the hydraulic oil flow rate, when the hydraulic oil flow rate is negative, the calculation module 20 increases the failure risk rate with an increase in the absolute value of the hydraulic oil flow rate, and when the hydraulic oil flow rate is 0, the calculation module 20 maintains the failure risk rate unchanged.
In this embodiment, the already determined failure risk rate is further optimized as a function of the hydraulic oil flow rate change rate. The possibility of the hydraulic system failing at the next moment is actually predicted by the flow of the hydraulic oil, and the change rate of the flow of the hydraulic oil determines whether the flow of the hydraulic oil increases or decreases at the next moment, and if the flow of the hydraulic oil is about to increase at the next moment, the failure risk of the hydraulic power assistance decreases at the next moment, and otherwise increases. Therefore, future failure risk of the hydraulic power assistance can be predicted more accurately according to the flow change rate of the hydraulic oil, the failure risk rate is corrected through the hydraulic power assistance failure prediction method, the failure of the hydraulic power assistance can be further predicted in advance in time, and a driver or a controller is guaranteed to obtain first-hand risk assessment information. It should be understood that the rate of change of the hydraulic oil flow is positive, when the hydraulic oil flow is increasing, the failure risk rate of the output should be appropriately reduced, and when the rate of change of the hydraulic oil flow is larger, the failure risk rate of the output should be smaller. On the contrary, when the change rate of the hydraulic oil flow is negative, the hydraulic oil flow is reduced, so that the failure risk rate of the output should be properly increased, and the larger the absolute value of the change rate of the hydraulic oil flow is, the larger the failure risk rate of the output should be.
In one embodiment of the present invention, the collecting module further includes a vehicle speed collecting unit, such as a vehicle speed sensor, which obtains a current vehicle speed and sends the vehicle speed to the electronic control unit 3, the calculating module 20 adjusts the failure risk rate according to the vehicle speed, the calculating module 20 keeps the failure risk rate unchanged when the vehicle speed is in a range from 0 to a preset first vehicle speed threshold, and the calculating module 20 increases the failure risk rate with an increase of the vehicle speed when the vehicle speed is greater than the first vehicle speed threshold.
In this embodiment, the determined failure risk rate is optimized according to the vehicle speed. Although the vehicle speed of the vehicle does not directly affect the degree of failure of the hydraulic assist, when the vehicle speed is high, failure of the hydraulic assist more easily affects the steering behavior of the driver. Therefore, at higher vehicle speeds, the failure risk rate of the output should be appropriately increased to take into account the fact that the influence caused by the failure of the hydraulic assist force is greater at high vehicle speeds, that is, the information on the current state of the hydraulic assist force, which should be paid more attention to at this time, is transmitted to the driver by increasing the failure risk rate at high vehicle speeds.
In this embodiment, the failure risk rate is not adjusted in the low vehicle speed range, such as 0-30 km/h, while in the high vehicle speed range, the output failure risk rate is increased along with the increase of the vehicle speed so as to give the driver sufficient importance to the failure possibility of the hydraulic assistance.
In one embodiment of the present invention, the collecting module further includes a rotation speed collecting unit that obtains a rotation speed of the hydraulic pump for hydraulic power assistance, and the calculating module 20 calculates the failure risk rate as 100% when the rotation speed is less than a preset rotation speed threshold.
In this embodiment, the acquisition module acquires the rotation speed of the hydraulic pump in real time, and if the rotation speed of the hydraulic pump is smaller than a preset rotation speed threshold value, it can be clearly determined that the hydraulic assist is in a failure state, and it can be directly determined that the hydraulic assist is failed due to the failure of the hydraulic pump.
The rotational speed detection unit is, for example, a rotational speed sensor, which is provided on an oil pump 200 for hydraulic assistance in the electrohydraulic power steering device 100.
In one embodiment of the present invention, the electronic control unit controls the electric motor of the electro-hydraulic power steering to supplement steering power that is missing in whole or in part due to hydraulic power failure when the calculation module 20 calculates the failure risk rate to be 100%.
In this embodiment, if it is determined that the hydraulic assist has failed completely, the vehicle control unit should control the electric motor in the electrohydraulic power steering to supplement the steering assist that provided the hydraulic assist deficiency. It should be appreciated that in some electro-hydraulic power assisted steering, the motor may not be able to fully provide all of the hydraulic power required for steering, and the motor should be controlled to increase as much as possible the electric power it is able to output over the maximum output torque to provide at least a partial absence of hydraulic power. The speed at which the motor increases its output torque may be determined depending on the vehicle speed, the steering behavior of the driver, and the like.
In the description of the present invention, modules such as "acquisition module", "calculation module", etc. may comprise hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like.
Further, it should be understood that since the modules are set up merely to illustrate functional units in an electro-hydraulic power steering gear corresponding to the present invention, the physical devices corresponding to the modules may be the processor itself, or a part of software, a part of hardware, or a part of a combination of software and hardware in the processor. Thus, the number of modules is merely illustrative. Those skilled in the art will appreciate that modules may be adaptively split according to actual circumstances. The specific splitting form of the module does not cause the technical scheme to deviate from the principle of the invention, so that the technical scheme after splitting falls into the protection scope of the invention.
The invention further provides a risk assessment method. Referring to fig. 2, a schematic flow chart of a method for risk assessment of hydraulic power failure of an electro-hydraulic power steering gear according to one embodiment of another aspect of the present invention is shown. The risk assessment method is used for the electrohydraulic power steering device 100 of a vehicle, by means of which the risk of failure of the hydraulic power in the electrohydraulic power steering device 100 can be assessed in real time. The risk assessment method comprises the following steps:
step 1: acquiring the current hydraulic oil flow for hydraulic power assistance in the electro-hydraulic power steering gear 100;
Step 2: calculating failure risk rate of hydraulic power assistance according to the hydraulic oil flow;
step 3: and outputting the failure risk rate.
Step 1, step 2 and step 3 are represented in fig. 2 by S1, S2 and S3, respectively.
In one embodiment of another aspect of the present invention, the method further comprises the steps of:
When the failure risk rate is calculated to be 100%, controlling the motor supplement of the electro-hydraulic power steering device 100 to provide all or part of the steering power which is lost due to the hydraulic power failure.
A third aspect of the present invention provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the risk assessment method described above.
It can be appreciated that the computer readable storage medium has all the technical effects of the risk assessment method described above, and will not be described in detail herein.
A fourth aspect of the invention provides a computer device comprising a memory and a processor, the memory being adapted to store a plurality of program codes adapted to be loaded and executed by the processor to perform the aforementioned risk assessment method.
It can be appreciated that the computer device has all the technical effects of the risk assessment method described above, and will not be described herein. The computer device may include a control device formed by various electronic devices.
It will be appreciated by those skilled in the art that the present invention, implementing all or part of the flow of its risk assessment method, may be implemented by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, implements the steps of the various method embodiments described above. Wherein the computer program comprises computer program code, it is understood that the program code includes, but is not limited to, program code for performing the risk assessment method described above. For convenience of explanation, only parts relevant to the present invention are shown. The computer program code may be in the form of source code, object code, executable files, or in some intermediate form. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
It should be understood that all of the above preferred embodiments are exemplary and not limiting, and that various modifications or variations of the above-described specific embodiments, which are within the spirit of the invention, should be made by those skilled in the art within the legal scope of the invention.
Claims (10)
1. An electro-hydraulic power steering comprising a hydraulic steering mechanism and a motor arranged at the hydraulic steering mechanism and capable of assisting in driving the same, characterized in that the electro-hydraulic power steering further comprises:
the collecting module comprises a flow collecting unit arranged at an oil inlet of the hydraulic steering mechanism, and the flow collecting unit is used for obtaining the flow of hydraulic oil at the oil inlet and is in communication connection with the electronic control unit;
The calculation module is arranged in the electronic control unit, calculates failure risk rate of hydraulic power assistance according to the hydraulic oil flow, and outputs the failure risk rate.
2. The electro-hydraulic power steering gear according to claim 1, wherein the electronic control unit is mounted on the motor;
the computing module further includes:
The judging module is used for judging the relation between the hydraulic oil flow and a preset upper flow limit and a preset lower flow limit, outputting information of normal operation of hydraulic assistance if the hydraulic oil flow is larger than the upper flow limit, outputting information of failure of the hydraulic assistance if the hydraulic oil flow is smaller than the lower flow limit, and judging that the failure risk rate is between 0% and 100% and is inversely related to the hydraulic oil flow if the hydraulic oil flow is between the upper flow limit and the lower flow limit.
3. The electro-hydraulic power steering gear according to claim 1, wherein the calculation module finds a current hydraulic oil flow rate change from the hydraulic oil flow rate and adjusts the failure risk rate according to the hydraulic oil flow rate change, and when the hydraulic oil flow rate change is positive, the calculation module decreases the failure risk rate with an increase in the hydraulic oil flow rate change, and when the hydraulic oil flow rate change is negative, the calculation module increases the failure risk rate with an increase in the absolute value of the hydraulic oil flow rate change, and when the hydraulic oil flow rate change is 0, the calculation module keeps the failure risk rate unchanged.
4. The electro-hydraulic power steering gear of claim 1, wherein the acquisition module further comprises a vehicle speed acquisition unit that acquires a current vehicle speed, the calculation module adjusts the failure risk rate according to the vehicle speed, the calculation module maintains the failure risk rate unchanged when the vehicle speed is in a range of 0 to a preset first vehicle speed threshold, and the calculation module increases the failure risk rate with an increase in the vehicle speed when the vehicle speed is greater than the first vehicle speed threshold.
5. The electrohydraulic power steering device of claim 1, wherein said acquisition module further includes a rotational speed acquisition unit that acquires a rotational speed of an oil pump for hydraulic power assist, and said calculation module calculates said failure risk rate as 100% when said rotational speed is less than a preset rotational speed threshold.
6. The electrohydraulic power steering device of claim 1, wherein said electronic control unit controls said motor to supplement steering power that is missing in whole or in part due to hydraulic power failure when said failure risk is calculated to be 100% by said calculation module.
7. The risk assessment method for the hydraulic power failure of the electro-hydraulic power steering gear is characterized by comprising the following steps of:
step1: acquiring the current hydraulic oil flow for hydraulic power assistance in the electro-hydraulic power assisted steering gear;
Step 2: calculating failure risk rate of hydraulic power assistance according to the hydraulic oil flow;
step 3: and outputting the failure risk rate.
8. The risk assessment method according to claim 7, further comprising the steps of:
And when the failure risk rate is calculated to be 100%, controlling the motor supplement of the electro-hydraulic power-assisted steering device to provide all or part of steering power which is lost due to hydraulic power failure.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the risk assessment method according to claim 7 or 8.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the risk assessment method according to claim 7 or 8 when executing the computer program.
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| JPH04317861A (en) * | 1991-04-16 | 1992-11-09 | Koyo Seiko Co Ltd | Electric power steering device |
| JP2012036965A (en) * | 2010-08-06 | 2012-02-23 | Denso Corp | Hydraulic control device |
| CN112204264A (en) * | 2018-06-08 | 2021-01-08 | 住友重机械建机起重机株式会社 | Construction machine |
| CN112644583A (en) * | 2019-10-11 | 2021-04-13 | 博世华域转向系统有限公司 | Controller circuit of electric power steering system and sampling and control method |
| CN112960034A (en) * | 2021-02-08 | 2021-06-15 | 西安主函数智能科技有限公司 | Emergency steering system and method for an autonomous drive-by-wire vehicle |
| CN113928412A (en) * | 2021-10-09 | 2022-01-14 | 南京航空航天大学 | Electro-hydraulic composite steering system and electro-hydraulic decoupling control method |
| CN116461602A (en) * | 2023-03-20 | 2023-07-21 | 一汽解放青岛汽车有限公司 | Control method of steering assistance system, steering assistance system and vehicle with steering assistance system |
| CN116443097A (en) * | 2023-04-20 | 2023-07-18 | 浙江吉利控股集团有限公司 | Control method of hydraulic steering system, hydraulic steering system and readable storage medium |
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